Performed soft tissue indentation and shear testing, and implemented finite element analysis to verify the mechanics model based on the experiment.Implemented small animal MR elastography experiment, and developed a program for 3D phase unwrapping and displacement/strain extraction.Implemented human MR tagging experiments, and developed a program to extract brain tissue displacement information from MR images.Designed a semi-autonomous endoscopic robot using SolidWorks, carried out system kinematics analysis.